/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018, Locus Robotics
 *  All rights reserved.
 *
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 *  are met:
 *
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 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#include <nav_2d_utils/footprint.h>
#include <nav_2d_utils/polygons.h>
#include <string>

namespace nav_2d_utils
{
nav_2d_msgs::Polygon2D footprintFromParams(ros::NodeHandle& nh, bool write)
{
  std::string full_param_name;
  nav_2d_msgs::Polygon2D footprint;

  if (nh.searchParam("footprint", full_param_name))
  {
    footprint = polygonFromParams(nh, full_param_name, false);
    if (write)
    {
      nh.setParam("footprint", polygonToXMLRPC(footprint));
    }
  }
  else if (nh.searchParam("robot_radius", full_param_name))
  {
    double robot_radius = 0.0;
    nh.getParam(full_param_name, robot_radius);
    footprint = polygonFromRadius(robot_radius);
    if (write)
    {
      nh.setParam("robot_radius", robot_radius);
    }
  }
  return footprint;
}

}  // namespace nav_2d_utils
